Prostate probe systems are disclosed for assessing one or both of BPH or prostate cancer. The prostate probe systems comprise either a force or pressure sensor mounted on or in a rectally insertable probe or a temperature sensor mounted on or in a rectally insertable probe, or both. Also disclosed are probe systems for evaluating a condition of a prostate gland. Finally, force or hardness mapping devices are disclosed for palpation-examination of patient anatomical tissues for abnormalities or assessing states of firmness.